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ADNAP: Reverse Engineering the Panda Robot Dynamics Model

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ADNAP

Reverse engineer the Panda dynamics model.

build readthedocs pypi-version license codecov pylint pypi

Install

pip install adnap

Usage

Point the environment variable to the libfranka shared library downloaded with panda-model

export PANDA_MODEL_PATH=<path-to-libfrankamodel.so>

Run optimization with 10 random samples from the Panda state-space and save results in params.npy:

adnap-optimize -n 10 -o params.npy

Evaluate the optimized physical parameters against the shared library on 1000 random samples:

adnap-evaluate -n 1000 params.npy